Scanning range setting method and survey system for the method

ABSTRACT

Provided is a scanning range setting method using a surveying instrument configured to measure a distance to a measurement point by using a distance measuring light and measure an angle to the measurement point, and a scanner configured to scan with a scanning light around a rotation axis to acquire three-dimensional point group data. The method includes steps of: (A) measuring a distance to one or more measurement points by the surveying instrument, (B) storing coordinates and angles of the measurement points, (C) automatically setting an area including all of the measurement points as a scanning range by the scanner, and (D) scanning the scanning range by the scanner, wherein a coordinate system of the scanner and a coordinate system of the surveying instrument match each other.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority under 35 U.S.C. § 119 toJapanese Patent Application No. 2017-191218, filed Sep. 29, 2017. Thecontents of this application are incorporated herein by reference intheir entirety

TECHNICAL FIELD

The present disclosure relates to a scanning range setting method of alaser scanner configured to acquire three-dimensional data of a surveysite.

BACKGROUND ART

As a device capable of measuring three-dimensional data of a surveysite, a laser scanner is known. A laser scanner scans a pulsed laserover a set measurement area to acquire three-dimensional point groupdata of pulsed laser irradiation points (for example, Patent Literature1).

Setting of a measurement area of a laser scanner, that is, setting of ascanning range is conventionally performed by the following method:

(1) manually setting by a measurement operator by using a peep sight, or

(2) setting by a measurement operator on a display unit of a laserscanner equipped with a camera by displaying a camera image on thedisplay unit of the scanner (for example, Patent Literature 2).

CITATION LIST Patent Literatures

[Patent Literature 1] Specification of Japanese Patent No. 5057734

[Patent Literature 2] Specification of Japanese Patent No. 4607095

SUMMARY OF THE INVENTION Technical Problem

As described above, a scanning range is manually set by a person.However, it is known that setting of a scanning range of a laser scanneris difficult. If setting of a scanning range is incorrect, the scanningrange is not associated with measured three-dimensional data, and amismatch point will occur in a three-dimensional model.

On the other hand, when creating a highly accurate three-dimensionalmodel from three-dimensional point group data acquired by a laserscanner, coordinate data of measurement points which are obtainedthrough accurate measurement performed by a surveying instrument arerequired. The measurement points are necessarily present within ascanning range.

Therefore, the inventor considered that by automatically setting ascanning range by using coordinate data of measurement points measuredby a surveying instrument, setting of a scanning range could be easilyand preferably performed, and proposed the present invention.

Thus, an object of the present invention is to provide a scanning rangesetting method to enable easy and preferable setting of a scanningrange, and a survey system for the method.

Solution to Problem

In order to achieve the above-described object, a scanning range settingmethod according to an aspect of the present invention is a scanningrange setting method that uses a surveying instrument configured tomeasure a distance to a measurement point by using a distance measuringlight and measure an angle to the measurement point, and a scannerconfigured to scan a scanning light around a rotation axis to acquirethree-dimensional point group data, and includes steps of: (A) measuringa distance to one or more measurement points by the surveyinginstrument, (B) storing coordinates and angles of the measurementpoints, (C) automatically setting an area including all of themeasurement points as a scanning range by the scanner, and (D) scanningthe scanning range by the scanner, wherein a coordinate system of thescanner and a coordinate system of the surveying instrument match eachother.

In the aspect described above, it is also preferable that the scanningrange setting method further include, in the step (C), a step (c) ofsetting the scanning range as an enlarged scanning range by enlargingthe scanning range by a predetermined range.

In the aspect described above, it is also preferable that the scanningrange setting method further include, after the step (D), a step (E) ofmerging coordinate data of the measurement points acquired by thesurveying instrument and the three-dimensional point group data acquiredby the scanner.

In the aspect described above, it is also preferable that the scanningrange setting method further includes, after the step (C), a step ofdisplaying the scanning range superimposed on a landscape image acquiredby using a camera.

A survey system according to another aspect of the present inventionincludes a surveying instrument configured to measure a distance to oneor more measurement points by using a distance measuring light andmeasure angles to the measurement points, and a scanner configured toscan a scanning light around a rotation axis to acquirethree-dimensional point group data, wherein the scanner includes a datastorage unit configured to store coordinates and angles of themeasurement points, and is configured to, automatically set an areaincluding all of the measurement points as a scanning range, based onthe coordinates and angles of the measurement points stored.

In the aspect described above, it is also preferable that the surveysystem includes a camera configured to photograph a landscape imageincluding the measurement points, the surveying instrument include adisplay unit configured to display the coordinates of the measurementpoints and the landscape image, and the display unit is configured todisplay the scanning range by superimposing the scanning range on thelandscape image.

Effect of the Invention

According to the aspects described above, a scanning range can be easilyand preferably set.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic view illustrating an external configuration of asurvey system according to a first embodiment of the present invention.

FIG. 2 is a configuration block diagram of the survey system accordingto the same embodiment.

FIG. 3 is a configuration block diagram of a scanner according to thesame embodiment.

FIG. 4 is a schematic view to describe a scanning range setting methodaccording to the same embodiment.

FIG. 5 is a flowchart of a scanning operation using the survey systemaccording to the same embodiment.

FIG. 6 is a flowchart of three-dimensional model creation using thesurvey system according to the same embodiment.

FIG. 7 is a schematic view to describe a scanning range setting methodusing a survey system according to a second embodiment of the presentinvention.

FIG. 8 is a flowchart of a scanning operation using the survey systemaccording to the same embodiment.

FIG. 9 is a flowchart of three-dimensional model creation using thesurvey system according to the same embodiment.

FIG. 10 is a configuration block diagram of a scanner relating to asurvey system according to a third embodiment of the present invention.

FIG. 11 is a flowchart of a scanning operation using the survey systemaccording to the same embodiment.

FIG. 12A and FIG. 12B are views illustrating examples of a scanningrange setting by use of different numbers of measurement points.

DESCRIPTION OF EMBODIMENTS

Hereinafter, preferred embodiments of the present invention aredescribed with reference to the drawings, however, the present inventionis not limited to these embodiments. In the embodiments, a commonconfiguration is designated by the same reference signs, and detaileddescription of the common configuration is omitted.

First Embodiment

FIG. 1 is a schematic view illustrating an external configuration of asurvey system 1 according to a first embodiment of the presentinvention. The survey system 1 includes a surveying instrument 2 and ascanner 22. The surveying instrument 2 and the scanner 22 are integratedand have a mechanical positional relationship being known, and areconfigured so that their coordinate systems match each other. In detail,in processing of data of the surveying instrument 2 and the scanner 22,correction coefficients are set so that the coordinate systems matcheach other.

The surveying instrument 2 is a so-called motor drive total station, andis installed at a known point by using a tripod. The surveyinginstrument 2 includes, in order from the lower side, a leveling section,a base section provided on the leveling section, a housing 2 b thatrotates around a horizontal rotation axis H-H on the base section, and atelescope 2 a that rotates around a vertical rotation axis V-V at thecenter of the housing 2 b.

The reference signs 9-1, 9-2, 9-3, . . . , 9-n denote measurement pointsat each of which a target (prism or reflection sheet) is set. In thefollowing description, a measurement point whose position is notspecified is designated by a reference sign 9-n.

FIG. 2 is a configuration block diagram of the survey system 1. Thesurvey system 1 includes a horizontal angle detector 11, a verticalangle detector 12, a horizontal rotation drive unit 13, a verticalrotation drive unit 14, a display unit 15, an operation unit 16, anarithmetic control unit 17, a tracking unit 18, a distance measuringunit 19, a storage unit 20, a sound output unit 21, and a scanner 22.

The horizontal rotation drive unit 13 and the vertical rotation driveunit 14 are motors, and are controlled by the arithmetic control unit 17and respectively drive the rotation about the horizontal rotation axisH-H and the rotation about the vertical rotation axis V-V. In thesurveying instrument 2, by collaboration of horizontal rotation of thehousing 2 b and vertical rotation of the telescope 2 a, a distancemeasuring light is emitted from the telescope 2 a.

The horizontal angle detector 11 and the vertical angle detector 12 arerotary encoders each including a rotary disk, slits, a light emittingdiode, and an image sensor. The horizontal angle detector 11 is providedfor the horizontal rotation axis H-H (FIG. 1) and detects a rotationangle in the horizontal direction of the housing 2 b. The vertical angledetector 12 is provided for the vertical rotation axis V-V (FIG. 1) anddetects a rotation angle in the vertical direction of the telescope 2 a.

The display unit 15 and the operation unit 16 are interfaces of thesurvey system 1. Via the display unit 15 and the operation unit 16, auser can perform a command and setting of a survey operation andconfirmation of measurement results, etc., of the surveying instrument 2and the scanner 22.

The distance measuring unit 19 transmits an infrared pulsed laser lightas a distance measuring light to a measurement point 9-n. Then, areflected light from the measurement point 9-n is received by a lightreceiving unit, for example, a photodiode, etc., and converted into adistance measurement signal. The reference sign 4 in FIG. 1 denotes anoptical axis of the distance measuring light.

The tracking unit 18 transmits, as a tracking light, an infrared laserlight with a wavelength different from that of the distance measuringlight. By a light receiving unit such as an image sensor, a landscapeimage including the tracking light and a landscape image excluding thetracking light are acquired. The arithmetic control unit 17 detects aposition of the measurement point 9-n from a difference between theimages, and performs automatic tracking so that the telescope 2 a alwaysfaces a direction of the measurement point 9-n.

The arithmetic control unit 17 is, for example, a microcontrollerincluding a CPU, a ROM, and a RAM, etc., mounted on an integratedcircuit, and controls the rotation drive units 13 and 14, performsautomatic tracking by the tracking unit 18, and performs automaticcollimation by comparing outputs of distance measurement signals.

In addition, the arithmetic control unit 17 measures a distance to eachof the measurement points 9-1, 9-2, 9-3, . . . , 9-n based on the numberof light wave oscillations from light transmission to light reception,and from values detected by the horizontal angle detector 11 and thevertical angle detector 12, measures an angle to each of the measurementpoints 9-1, 9-2, 9-3, . . . , 9-n, and measures an X coordinate, a Ycoordinate, and a Z coordinate of each measurement point.

The storage unit 20 is, for example, a hard disk drive. In the storageunit 20, a program for the arithmetic control described above is stored.

The sound output unit 21 is a speaker, and outputs a sound based on acommand from the arithmetic control unit 17.

The scanner 22 is a three-dimensional laser scanner. FIG. 3 is aconfiguration block diagram of the scanner 22 according to theembodiment. The scanner 22 includes a vertical angle detector 31, avertical rotation drive unit 32, a turning mirror 33, a communicationunit 34, an arithmetic control unit 35, a storage unit 36, a distancemeasuring unit 37, and a data storage unit 39.

The turning mirror 33 is driven by the vertical rotation drive unit 32to turn around the vertical rotation axis R-R (FIG. 1) via a lens barrelnot illustrated. The turning mirror 33 is also disposed on thehorizontal rotation axis H-H of the surveying instrument 2 via a housing22 a (FIG. 1) of the scanner 22, and the housing 22 a of the scanner 22and the housing 2 b of the surveying instrument 2 integrally rotatehorizontally.

The distance measuring unit 37 scans vertically an infrared pulsed laserlight as a scanning light toward a measuring target by using the turningmirror 33. Then, a reflected light of the infrared pulsed laser light isreceived by a light receiving unit, for example, a photodiode, etc. Thereference sign 5 in FIG. 1 denotes an optical axis of a scanning lightof the scanner 22 at a certain point in time. The reference sign 10denotes an irradiation point (measurement position) at that point intime.

The vertical angle detector 31 is an encoder, and detects a verticalrotation angle of the turning mirror 33.

The arithmetic control unit 35 is a microcontroller, and is electricallyconnected to the arithmetic control unit 17 of the surveying instrument2. The arithmetic control unit 35 scans with a scanning light via theturning mirror 33 by controlling the vertical rotation drive unit 32.The arithmetic control unit 35 turns the turning mirror 33 bycontrolling the vertical rotation drive unit 32, and scans with a pulsedlaser in the vertical direction and the horizontal direction by drivingthe horizontal rotation drive unit 13.

In addition, the arithmetic control unit 35 automatically sets an areaincluding all of the measurement points as a scanning range based onmeasurement point data stored in the data storage 39 unit.

In addition, the arithmetic control unit 35 obtains a distance to theirradiation point 10 by measuring a round-trip time of the laser pulse.Also, the arithmetic control unit 35 measures, from values detected bythe vertical angle detector 31 of the scanner and the horizontal angledetector 11 of the surveying instrument 2, an angle to each irradiationpoint 10. Then, the arithmetic control unit 35 obtains three-dimensionalpoint group data from distances, horizontal angles, and vertical anglesto the irradiation points 10.

In addition, the arithmetic control unit 35 controls communication ofthe communication unit 34. The arithmetic control unit 35 receives aspecification of a searching range and a scanning start command from theoperation unit 16 of the surveying instrument 2.

The storage unit 36 is, for example, a hard disk drive, and in thestorage unit 36, a program for the arithmetic control described above isstored.

The data storage unit 39 is, for example, an SD card, and in the datastorage unit, acquired point group data and image data are stored. Inaddition, data concerning measurement points acquired by the surveyinginstrument 2 are stored.

In the survey system 1, the horizontal angle detector 11, the verticalangle detector 12, the horizontal rotation drive unit 13, the verticalrotation drive unit 14, the arithmetic control unit 17, the storage unit20, and the sound output unit 21 are housed in the housing 2 b of thesurveying instrument 2, and the display unit 15 and the operation unit16 are provided outside the housing 2 b. The tracking unit 18 and thedistance measuring unit 19 are housed in the telescope 2 a of thesurveying instrument 2.

The scanner 22 is, for example, as illustrated in FIG. 1, fixed to andintegrated with an upper portion of the telescope 2 a of the surveyinginstrument 2. In addition, the scanner 22 may be disposed at a lowerportion or side portion of the telescope 2 a, or under the display unit15. The scanner 22 does not necessarily have to be integrated, and maybe separately provided as long as its coordinate system matches thecoordinate system of the surveying instrument.

Setting of Scanning Range

Next, a scanning range setting method is described. FIG. 4 is aschematic view to describe setting of a scanning range based on fourmeasurement points, and FIG. 5 is a flowchart of a scanning operationusing the survey system 1 according to the present embodiment.

First, when a start of scanning range setting is commanded from theoperation unit 16, the process shifts to Step S1, and the surveyinginstrument 2 acquires measurement point data. As acquisition ofmeasurement point data, a user collimates a target set at themeasurement point 9-1 that the user desires to accurately measure, andmanually measures a horizontal angle, a vertical angle, and a distanceto the measurement point by the surveying instrument 2.

When the measurement of the one measurement point 9-1 is finished, theprocess shifts to Step S2, and the surveying instrument 2 confirms withthe user whether measurements of all measurement points have beenfinished via the display unit. In a case where the user's answer is“No,” the process returns to Step S1, and the surveying instrumentmeasures a horizontal angle, a vertical angle, and a distance to thenext measurement point 9-2, and repeats this operation untilmeasurements of all measurement points are finished. In a case where theuser's answer is “Yes,” measurements of the measurement points areended, and coordinates and angles of the measurement points are storedin the data storage unit 39 of the scanner 22, and the process shifts toStep S3.

In Step S3, from the coordinates of the measurement points 9-1 to 9-4measured in Step S2, the arithmetic control unit 17 of the surveyinginstrument 2 extracts two points 9-1 and 9-4 that are most distant fromeach other in the horizontal direction, and acquires a horizontalincluded angle α of these and outputs this angle to the scanner 22. Thedata storage unit 39 of the scanner 22 stores this.

Next, when the process shifts to Step S4, from the coordinates of themeasurement points 9-1 and 9-4 measured in Step S2, the arithmeticcontrol unit 17 of the surveying instrument 2 extracts two points 9-2and 9-3 most distant from each other in the vertical direction, andacquires a vertical included angle β of these, and stores this angle inthe data storage unit 39 of the scanner 22.

Next, when the process shifts to Step S5, the arithmetic control unit 35of the scanner 22 automatically sets a scanning range 40 based on thecoordinates, the horizontal included angle α, and the vertical includedangle β of the measurement points stored in the data storage unit 39.

In detail, for example, in the horizontal direction, a range of thehorizontal included angle α spreading rightward from the measurementpoint 9-1 located leftmost (that is, at the left end of the area 42including all measurement points), and in the vertical direction, arange of the vertical included angle β spreading downward from themeasurement point 9-2 located uppermost (that is, at the upper end ofthe area 42), are set as the scanning range 40. This setting of thescanning range 40 is stored in the data storage unit 39 of the scanner22.

When the horizontal included angle α is in a range of 180°≤α≤360°, thescanning range 40 in the horizontal direction is set so that 180°rotational scanning is performed. A reason for this is described below.

When the scanning range 40 is set, the process shifts to Step S6. Thearithmetic control unit 35 performs, on the display unit 15, a displayto confirm with the user whether to start scanning of the set range 40.When the user's answer is “Yes,” the setting of the scanning range 40 isconfirmed, and the process shifts to Step S8, and scanning is started.When the user's answer is “No,” the process shifts to Step S7. The usermanually sets a scanning range, and this setting is decided and theprocess shifts to Step S8, and the scanner 22 starts scanning.

Scanning in the horizontal direction is performed based on the setscanning range 40. On the other hand, in the vertical direction,regardless of the set scanning range 40, scanning of 270° including thevertex is performed.

As described above, in Step S5, the reason for setting the scanningrange 40 to 180° in the horizontal direction when the horizontalincluded angle α is in a range of 180°≤α≤360° is that scanning of 270°including the vertex in the vertical direction plus scanning of 180° inthe horizontal direction is scanning as much as whole circumferencescanning in the horizontal direction, and scanning over 180° in thehorizontal direction is not necessary. This is because setting of ascanning range is performed for the purpose of shortening a scanningtime.

When scanning of the set scanning range is completed, the process shiftsto Step S9, and the arithmetic control unit 35 ends scanning, and thedata storage unit 39 stores obtained point group data.

Three-Dimensional Model Creation

Next, a method of creating a three-dimensional model by using the surveysystem 1 according to the present embodiment is described with referenceto FIG. 6. This operation is performed after the above-describedscanning operation is ended. This operation may be performed by using anexternal terminal.

Although not illustrated, the external terminal is a terminal, forexample, a personal computer, a tablet, etc., and includes a controlunit such as a CPU, a storage unit such as a hard disk drive, a displayunit such as a liquid crystal display, and an input unit such as akeyboard and a touch display.

First, the process shifts to Step S10, and the data of measurementpoints acquired in Step S1, the setting of a scanning range 40 acquiredin Step S5, and the three-dimensional point group data acquired in StepS8 are written out from the data storage unit 39 of the scanner to thestorage unit of the external terminal.

Next, the process shifts to Step S11, and by using dedicated applicationsoftware, a portion other than the scanning range 40 in thethree-dimensional point group data is masked.

Next, the process shifts to Step S12, and the masked three-dimensionalpoint group data and coordinate data of the measurement points aremerged, and then, the process shifts to Step S13, and athree-dimensional model is created.

Creation of a three-dimensional model is thus completed.

In the present embodiment, a necessary scanning range can beautomatically and accurately set based on data of measurement points, sothat setting of a scanning range generally considered as being difficultcan be easily and preferably performed. In addition, scanning rangesetting uses accurate data of the measurement points for creation of athree-dimensional model, so that it is not required to perform aseparate operation for scanning range setting. As a result, the processfrom setting of a scanning range to creation of a three-dimensionalmodel becomes easy.

Second Embodiment

A mechanical configuration of a survey system 101 according to a secondembodiment is the same as that of the survey system 1 according to thefirst embodiment, but is different in that a scanning range to be setincludes an enlarged scanning range obtained by enlarging an areaincluding all measurement points set in the first embodiment.

Setting of Scanning Range

A scanning range setting method according to the second embodiment isdescribed with reference to the drawings. FIG. 7 is a schematic view todescribe setting of a scanning range based on the same four measurementpoints as in FIG. 4, and FIG. 8 is a flowchart of a scanning operationusing the survey system 101 according to the present embodiment.

First, when a start of scanning range setting is commanded from theoperation unit 16, the process shifts to Step S101, and the surveyinginstrument 2 acquires measurement point data in the same manner as inStep S1. That is, a user manually measures a measurement point by thesurveying instrument 2.

When the measurement of the measurement point is finished, the processshifts to Step S102, and the arithmetic control unit performs a displayto confirm with the user whether measurements of all requiredmeasurement points have been finished on the display unit. When theuser's answer is “No,” the process returns to Step S101, and thisoperation is repeated until measurements of all measurement points arefinished. When the user's answer is “Yes,” measurements of themeasurement points are ended, and coordinates and angles of themeasurement points are stored in the data storage unit 39 of the scanner22, and the process shifts to Step S103.

When the process shifts to Step S103, in the same manner as in Step S3,the arithmetic control unit 17 extracts two measurement points 9-1 and9-4 most distant from each other in the horizontal direction, andacquires a horizontal included angle α of these. The data on themeasurement points and the horizontal included angle α are stored in thedata storage unit 39 of the scanner 22. When the number of measurementpoints is one, the horizontal included angle α is 0.

Next, when the process shifts to Step S104, in the same manner as inStep S4, the arithmetic control unit 17 extracts two points 9-2 and 9-3most distant from each other in the vertical direction, and acquires avertical included angle β of these. The data on the vertical includedangle β is stored in the data storage unit 39 of the scanner 22. Whenthe number of measurement points is one, the vertical included angle βis 0.

Next, when the process shifts to Step S105, the arithmetic control unit35 sets an enlarged scanning range 44 enlarged by a predetermined angleoutward from the area 42 including all measurement points.

In detail, for example, as illustrated in FIG. 7, the enlarged scanningrange 44 in the horizontal direction is a range of an angle δh leftwardin the horizontal direction from the measurement point 9-1 located atthe left end of the area 42 including all measurement points and of anangle δh rightward in the horizontal direction from the measurementpoint 9-4 located at the right end of the area 42. The enlarged scanningrange 44 in the vertical direction is a range of an angle δv in thevertical direction from the measurement point 9-2 located at the upperend of the area 42 including all measurement points and of an angle δvin the vertical direction from the measurement point 9-3 located at thelower end of the area 42. A size of the enlarged scanning range 44 canalso be set by distances from measurement point coordinates as well assetting by angles as described above. In addition, the size of theenlarged scanning range can be set so as to be arbitrarily changeable bya user.

Next, when the process shifts to Step S106, the arithmetic control unit35 sets a scanning range 140 so that the scanning range includes thearea 42 including all measurement points and the enlarged scanning range44 based on the measurement point data, the horizontal included angle α,the vertical included angle β, and the enlarged scanning range 44setting. That is, the scanning range 140 in the horizontal directionbecomes a range enlarged by δh to both left and right sides of thehorizontal included angle α, and the scanning range 140 in the verticaldirection becomes a range enlarged by δv to both upper and lower sidesof the vertical included angle β. The setting of the scanning range 140is stored in the data storage unit 39 of the scanner 22.

Next, when the process shifts to Step S107, by display on the displayunit 15 of the surveying instrument 2, the arithmetic control unit 35confirms with the user whether to start scanning based on the setscanning range 140. When the user's answer is “Yes,” the scanning range140 is decided confirmed, and the process shifts to Step S108, andscanning is started. When the user's answer is “No,” the process shiftsto Step S109, and the user manually sets a scanning range, and thisscanning range is confirmed, and the process shifts to Step S108 andscanning is started.

When scanning of the set scanning range is completed in the same manneras in Step S8, the process shifts to Step S110, and the arithmeticcontrol unit 35 ends scanning and stores obtained point group data inthe storage unit 36.

At a survey site, not only information on measurement points desired tobe measured but also information around the points are required in manycases. According to the present embodiment, the scanning range 140 canbe automatically set so as to include the enlarged scanning range 44 atthe outer side of the area 42 including all measurement points, so thata necessary region can be easily and accurately set as a scanning range.

Creation of Three-Dimensional Model

Next, a method of creating a three-dimensional model by using the surveysystem 101 according to the present embodiment is described withreference to FIG. 9. This operation is performed after the scanningoperation described above is ended. This operation may be performed byusing an external terminal as in the case of the first embodiment.

First, the process shifts to Step S111, and the data of the measurementpoints acquired in Step S101, the setting of the scanning range 140acquired in Step S106, and the three-dimensional point group dataacquired in Step S109 are written out from the data storage unit 39 ofthe scanner 22 to a storage unit of the external terminal.

Next, the process shifts to Step S112, and by using dedicatedapplication software, a portion other than the scanning range 140 in thevertical direction in the three-dimensional point group data is masked.

Here, after masking of the three-dimensional point group data, themasked three-dimensional point group data may be re-displayed on thedisplay unit of the external terminal so that the scanning range in thevertical direction can be arbitrarily reset by a user.

Next, the process shifts to Step S113, and the masked three-dimensionalpoint group data and the coordinate data of the measurement points aremerged, and the process shifts to Step S114, and a three-dimensionalmodel is created.

Creation of the three-dimensional model is thus completed.

Third Embodiment

FIG. 10 is a configuration block diagram of a scanner 222 included in asurvey system 201 according to a third embodiment of the presentinvention. The survey system 201 of the present embodiment includes asurveying instrument 2 and a scanner 222 as with the first and secondsurvey systems 1 and 101. The surveying instrument 2 has the sameconfiguration, so that the surveying instrument 2 is omitted in FIG. 10.The scanner 222 includes a camera 50 in addition to the configuration ofthe scanner 22.

The camera 50 is, for example, a digital camera, and includes an imagesensor such as a CCD or a CMOS sensor as an imaging element. Acquiredimage data is output as a digital signal, and can be acquired as alandscape image.

The camera 50 is connected to an arithmetic processing unit 35 of thescanner 222, and driving of the camera is controlled according tocommands of the arithmetic control unit 17 of the surveying instrument 2via communication between the scanner 222 and the surveying instrument2. Acquired image data is stored in the storage unit 20 of the surveyinginstrument 2, and displayed on the display unit 15.

In the present embodiment, the camera 50 may be provided in the surveysystem 201 as a camera separate from the scanner 222.

Setting of Scanning Range

A scanning range setting method according to the third embodiment isdescribed. FIG. 11 is a flowchart of a scanning operation using a surveysystem 201 according to the present embodiment.

First, when a start of scanning is commanded from the operation unit 16,the process shifts to Step S201, and the camera 50 acquires asurrounding landscape image and stores it in the storage unit 20.

Next, when the process shifts to Step S202, in the same manner as inStep S1, the surveying instrument 2 acquires measurement point data.

When the measurement of the measurement point is finished, the processshifts to Step S203, and the arithmetic control unit 17 performs adisplay to confirm with a user whether measurements of all measurementpoints have been finished on the display unit 15. When the user's answeris “No,” the process returns to Step S202, and this operation isrepeated until measurements of all measurement points are finished. Whenthe user's answer is “Yes,” measurements of the measurement points areended, and coordinates and angles of the measurement points are storedin the data storage unit 39 of the scanner 22, and the process shifts toStep S204.

When the process shifts to Step S204, in the same manner as in Step S3,the arithmetic control unit 17 extracts two measurement points mostdistant from each other in the horizontal direction, and acquires ahorizontal included angle α of these. The data on the measurement pointsand the horizontal included angle β are stored in the data storage unit39 of the scanner 22.

Next, when the process shifts to Step S205, in the same manner as inStep S4, the arithmetic control unit 17 extracts two points most distantfrom each other in the vertical direction, and acquires a verticalincluded angle β of these. The data on the vertical included angle β isstored in the data storage unit 39 of the scanner 22.

Next, when the process shifts to Step S206, in the same manner as inStep S5, the arithmetic control unit 35 of the scanner 22 sets ascanning range based on the coordinates of the measurement points, thehorizontal included angle α, and the vertical included angle β stored inthe data storage unit 39.

Next, when the process shifts to Step S207, the surveying instrument 2displays the landscape image acquired in Step S201 on the display unit15, and displays the data of the measurement points acquired in StepS202 and the scanning range set in Step S206 superimposed on the image.

Next, the process shifts to Step S208, and it is confirmed with the userwhether to start scanning based on the set scanning range. When theuser's answer is “Yes,” the scanning range is decided, and the processshifts to Step S209 and scanning is started. When the user's answer is“No,” the process shifts to Step S210, and the user manually sets ascanning range, and the scanning range is confirmed, and then, theprocess shifts to Step S209 and scanning is started.

When scanning of the set scanning range is completed, the process shiftsto Step S211 and scanning is ended, and the data storage unit 39 storesobtained point group data.

In the survey system 201 according to the present embodiment, athree-dimensional model is also created in the same manner as in thefirst and second embodiments.

When a surrounding landscape image is acquired by using the camera 50and superimposed on image data so that the automatically set scanningrange 40 can be confirmed as described above, the scanning range 40 canbe visually confirmed, and this is convenient. Even in this case,setting itself of the scanning range 40 is automatically performed, sothat the area 42 including all required measurement points can bereliably specified.

The number of measurement points is not limited to the examplesdescribed above. FIGS. 12A and 12B illustrate an example in which ascanning range 140 is set with the number of measurement points changedby using the survey system according to the second embodiment, and FIG.12A illustrates an example in which a scanning range is set by using twomeasurement points 9-5 and 9-6, and FIG. 12B illustrates an example inwhich a scanning range is set by using one measurement point 9-7. Inthis way, the scanning range 40, 140 can be set by using data of anarbitrary number of measurement points that is at least one, and thenumber of measurement points is preferably 2 to 4.

While preferred embodiments of the present invention are describedabove, the embodiments described above are examples of the presentinvention, and can be combined based on knowledge of a person skilled inthe art, and such combination modes are also included in the scope ofthe present invention.

REFERENCE SIGNS LIST

-   1, 101, 201 Survey system-   2 Surveying instrument-   15 Display unit-   22, 222 Scanner-   39 Data storage unit-   50 Camera-   9-1, 9-2, 9-3, 9-4, . . . , 9-n Measurement point-   40, 140 Scanning range-   44 Enlarged scanning range

What is claimed is:
 1. A scanning range setting method using a surveyinginstrument configured to measure a distance to a measurement point byusing a distance measuring light and measure an angle to the measurementpoint, and a scanner configured to scan with a scanning light aroundrotation axes in a horizontal direction and a vertical direction toacquire three-dimensional point group data, comprising steps of: (A)measuring distances and angles to two or more measurement points by thesurveying instrument; (B) storing coordinates and angles of themeasurement points; (C) setting a scanning range with a horizontalscanning angle defined by defining a first any-one arbitrary point ofthe measuring points along a line that defines the extreme horizontalscan angle and defining a second any-one arbitrary point of themeasuring points that defines the other extreme horizontal scan angleand a vertical scanning angle defined by defining a first any-onearbitrary point of the measuring points along a line that defines oneextreme vertical scan angle and defining a second any-one arbitrarypoint of the measuring points along a line that defines the otherextreme vertical scan angle; and (D) scanning the scanning range by thescanner, wherein a coordinate system of the scanner and a coordinatesystem of the surveying instrument match each other, and the coordinatesof the measurement points are merged with three-dimensional point groupdata acquired by the scanner to create a three-dimensional model.
 2. Themethod according to claim 1, wherein the scanning range further includesan enlarged scanning range that enlarges the scanning range by apredetermined range in at least one of the horizontal and verticaldirections.
 3. The method according to claim 2, further comprising:after the step (C), a step of displaying the scanning range bysuperimposing the scanning range on a landscape image acquired by usinga camera.
 4. The method according to claim 1, further comprising: afterthe step (C), a step of displaying the scanning range by superimposingthe scanning range on a landscape image acquired by using a camera. 5.The method according to claim 1, wherein at least three or moremeasurement points are measured by the surveying instrument.
 6. A surveysystem comprising: a surveying instrument configured to measure adistance to two or more measurement points by using a distance measuringlight and measure angles to the measurement points; and a scannerconfigured to scan with a scanning light around rotation axes in ahorizontal direction and a vertical direction to acquirethree-dimensional point group data, wherein the scanner includes a datastorage unit configured to store coordinates and angles of themeasurement points, and is configured to, based on the coordinates andangles of the measurement points stored, set a scanning range with ahorizontal scanning angle defined by defining a first any-one arbitrarypoint of the measuring points along a line that defines the extremehorizontal scan angle and defining a second any-one arbitrary point ofthe measuring points that defines the other extreme horizontal scanangle and a vertical scanning angle defined by defining a first any-onearbitrary point of the measuring points along a line that defines oneextreme vertical scan angle and defining a second any-one arbitrarypoint of the measuring points along a line that defines the otherextreme vertical scan angle.
 7. The survey system according to claim 6,comprising: a camera configured to photograph a landscape imageincluding the measurement points, wherein the surveying instrumentincludes a display unit configured to display the coordinates of themeasurement points and the landscape image, and the display unit isconfigured to display the scanning range by superimposing the scanningrange on the landscape image.
 8. The survey system according to claim 6,wherein at least three or more measurement points are measured by thesurveying instrument.
 9. A scanning range setting method using asurveying instrument configured to measure a distance to a measurementpoint by using a distance measuring light and measure an angle to themeasurement point, and a scanner configured to scan with a scanninglight around rotation axes in a horizontal direction and a verticaldirection to acquire three-dimensional point group data, comprisingsteps of: (A) measuring distances and angles to two or more measurementpoints by the surveying instrument; (B) storing coordinates and anglesof the measurement points; (C) setting a rectangular area whosehorizontal length is defined by a range of a horizontal included angleof two points most distant from each other in the horizontal directionamong the two or more measurement points and whose vertical length isdefined by a range of a vertical included angle of two points mostdistant from each other in the vertical direction among the two or moremeasurement points as a scanning range by the scanner, the areaincluding all of the measurement points; and (D) scanning the scanningrange by the scanner, wherein a coordinate system of the scanner and acoordinate system of the surveying instrument match each other, and thecoordinates of the measurement points are merged with three-dimensionalpoint group data acquired by the scanner to create a three-dimensionalmodel.